Dynamic torque calculation method, device and calculation system in sinusoidal torque calibration

Abstract

The present application relates to a method, device and calculation system for calculating dynamic torque in sinusoidal torque calibration. Based on the implementation scheme of the present application, in the dynamic torque calibration, the calculation of dynamic torque takes into account the actual distribution of the angular acceleration of the load, and the dynamic torque value is more accurate. By tracing the dynamic torque quantity to the International System of Units (SI) through the moment of inertia and angular acceleration, a dynamic torque primary standard can be established. Using the method of the present invention, the frequency range of calibrating sinusoidal torque is wider and the measurement uncertainty is smaller, wherein the amplitude expansion uncertainty is better than 0.5%, and the phase shift expansion uncertainty is better than 0.5°; the amplitude expansion uncertainty of calibrating impact torque is better than 0.5%.

Description

Technical Field

[0001] The present disclosure relates to the field of measurement and testing technology, and in particular to a method, device and calculation system for calculating dynamic torque in sinusoidal torque calibration. Background Art

[0002] Dynamic torque calibration is widely used in aviation, aerospace, shipbuilding, vehicles, robotics and other fields. The traceability technology of standard dynamic torque value is the key link of dynamic torque calibration.

[0003] Sinusoidal torque excitation is generally generated by a motor or a hydraulic servo system. For example, the German Federal Institute of Physics and Technology and the Beijing Great Wall Metrology and Testing Technology Institute both use sinusoidal signal-driven motors as excitation sources. The motor drives the calibrated sensor and the standard rotational inertia block to perform angular vibration, thereby generating sinusoidal torque.

[0004] The traceability of sinusoidal torque values ​​is based on the principle that the dynamic torque acting on the torque sensor is equal to the product of the moment of inertia and angular acceleration of the load it drives. The moment of inertia of the load can be traced, and the angular acceleration of a certain cross section of the load can be measured by laser interferometry.

[0005] In the past, it was approximately assumed that the angular acceleration of each point on the load was the same, so the dynamic torque value was obtained by multiplying the angular acceleration measured at a single point by the moment of inertia of the load. For example, a dynamic torque calibration device provided by the authorized invention with publication number CN106482894B can trace the dynamic torque value to the International System of Units (SI) through the moment of inertia and angular acceleration, and can establish a dynamic torque primary standard. The dynamic torque is generated by closed-loop control, and a high-quality sinusoidal or other type of dynamic torque waveform can be obtained. Although a calculation model for the dynamic torque value has also been established, since the load is not an ideal rigid body, the angular acceleration of each point on it is different, and approximating that they are equal will lead to large errors. Therefore, it is necessary for this application to improve its dynamic torque tracing method. Summary of the invention

[0006] In order to solve the above problems, the present application proposes a method, device and calculation system for dynamic torque calculation in sinusoidal torque calibration.

[0007] On the one hand, the present application proposes a method for calculating dynamic torque in sinusoidal torque calibration, comprising the following steps:

[0008] Get the angular acceleration at the bottom of the standard moment of inertia block and the angular acceleration of the bottom of the air-bearing shaft system

[0009] Calculate the torque component M1 generated by the standard moment of inertia block;

[0010] Calculate the torque component M2 generated by the air-floating shaft system and connection mechanism between the sensor and the standard moment of inertia block;

[0011] Calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor;

[0012] Calculate the dynamic torque value M(t) acting on the torque sensor:

[0013] M(t)=M0+M1+M2.

[0014] As an optional embodiment of the present application, optionally, the angular acceleration at the bottom of the standard moment of inertia block is obtained include:

[0015] The angular acceleration at the bottom of the standard moment of inertia block is measured by laser interferometer: The angular acceleration distribution of a standard moment of inertia block is:

[0016]

[0017] Where:

[0018] z-height coordinate of the moment of inertia block, with the bottom as 0, in m;

[0019] t-time, unit s;

[0020] ω0-angular vibration frequency, unit rad / s;

[0021] ρ-density, unit: kg / m 3 ;

[0022] G-shear elastic modulus, unit GPa;

[0023] L-standard moment of inertia block height, in m.

[0024] As an optional embodiment of the present application, optionally, calculating the torque component M1 generated by the standard moment of inertia block includes:

[0025] Get the angular acceleration at the bottom of the standard moment of inertia block

[0026] The torque component M1 generated by the standard moment of inertia block is as follows:

[0027]

[0028] In the formula, - Angular acceleration at the base of the standard moment of inertia block;

[0029] r-diameter of the standard moment of inertia block, in m;

[0030] S- cross-sectional area of ​​standard moment of inertia block, unit: m 2 .

[0031] J - moment of inertia of standard moment of inertia block, unit: kg m 2 .

[0032] As an optional embodiment of the present application, optionally, calculating the torque component M2 generated by the air-bearing shaft system and the connection mechanism between the sensor and the standard moment of inertia block includes:

[0033] The finite element analysis method is used to calculate the angular acceleration of any point inside the air-bearing shaft system and the connecting structure. The torque M2 is calculated by numerical integration as:

[0034]

[0035] As an optional embodiment of the present application, optionally, calculating the torque component M0 generated by the equivalent moment of inertia of the torque sensor includes:

[0036]

[0037] Where, J0 is the equivalent moment of inertia of the torque sensor.

[0038] As an optional embodiment of the present application, optionally, after calculating the dynamic torque value M(t) acting on the torque sensor, the method further includes:

[0039] The dynamic characteristics of the torque sensor are obtained by comparing the dynamic torque value M(t) and the electrical signal output by the torque sensor acquired by the high-speed data acquisition card.

[0040] As an optional embodiment of the present application, optionally, the angular acceleration at the bottom of the standard moment of inertia block is obtained. and the angular acceleration of the bottom of the air-bearing shaft system Previously, it also included:

[0041] The dynamic torque calibration device uses a split torque motor to drive the rotational inertia load to generate torque, and generates rotational motion according to the dynamic torque waveform required for excitation; the torque sensor senses the torque generated and outputs an electrical signal;

[0042] The laser interferometer cooperates with the grating, and the incident light and diffracted light of the laser interferometer conform to the grating equation:

[0043]

[0044] Where k is the diffraction order (k = ±1), g is the grating constant, λ is the wavelength of the laser, α is the incident angle, and β is the diffraction angle;

[0045] Adjust the incident angle to make it the same as the first-order diffraction light angle, so that the incident and reflected light of the laser interferometer coincide; the laser interferometer receives the reflected light and obtains a photoelectric signal;

[0046] The laser interferometer and the electrical signals output by the laser interferometer are synchronously collected by a high-speed data acquisition card, and the angular displacement and angular velocity of the rotation are obtained after processing, and then the angular acceleration is obtained.

[0047] On the other hand, the present application proposes a device for implementing the dynamic torque calculation method in the sinusoidal torque calibration, comprising:

[0048] Angular acceleration acquisition module, used to obtain the angular acceleration at the bottom of the standard moment of inertia block and the angular acceleration of the bottom of the air-bearing shaft system

[0049] A first calculation module, used for calculating the torque component M1 generated by the standard moment of inertia block;

[0050] The second calculation module is used to calculate the torque component M2 generated by the air-floating shaft system and the connection mechanism between the sensor and the standard moment of inertia block;

[0051] A third calculation module, used to calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor;

[0052] The fourth calculation module is used to calculate the dynamic torque value M(t) acting on the torque sensor:

[0053] M(t)=M0+M1+M2.

[0054] In another aspect, the present application further provides a computing system, comprising:

[0055] processor;

[0056] a memory for storing processor-executable instructions;

[0057] Wherein, the processor is configured to implement the dynamic torque calculation method in the sinusoidal torque calibration when executing the executable instructions.

[0058] Technical effects of the present invention:

[0059] Based on the implementation scheme of the embodiment of the present application, in the dynamic torque calibration of the present application, the calculation of the dynamic torque takes into account the actual distribution of the angular acceleration of the load, and the dynamic torque value is more accurate. By tracing the dynamic torque quantity to the International System of Units (SI) by measuring the moment of inertia and angular acceleration, a dynamic torque primary standard can be established. Using the method of the present invention, the frequency range of calibrating sinusoidal torque is wider and the measurement uncertainty is smaller, wherein the amplitude expansion uncertainty is better than 0.5%, and the phase shift expansion uncertainty is better than 0.5°; the amplitude expansion uncertainty of the calibrated impact torque is better than 0.5%.

[0060] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0062] Figure 1 It is a structural schematic diagram of the dynamic torsion excitation platform of the present invention;

[0063] Figure 2 is a schematic diagram of a dynamic torque measurement and control system of the present invention;

[0064] Figure 3 The laser interferometer angular acceleration measuring device of the present invention;

[0065] Figure 4 The dynamic torque control system of the present invention;

[0066] Figure 5 This is the sinusoidal torque signal processing flow of the present invention;

[0067] Figure 6 This is a flow chart of processing impact torque signal using the time domain differentiation method of the present invention;

[0068] Figure 7 This is a flow chart of the frequency domain differentiation method for processing impact torque signals of the present invention. DETAILED DESCRIPTION

[0069] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0070] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0071] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0072] The implementation of this embodiment is partly based on a dynamic torque calibration device provided by the authorized invention with publication number CN106482894B. Therefore, in this embodiment, the relevant technical description is specifically referred to the public document, and this embodiment will not be repeated.

[0073] Example 1

[0074] The dynamic torque control system of the present invention generates dynamic torque by driving a standard moment of inertia block with a motor. Figure 1 As shown in the figure, a split brushless torque motor is used as the torque generator. The motor rotor drives the lower air-floating shaft, feedback grating, calibrated torque sensor, upper air-floating shaft and cylindrical grating, and standard rotation inertia block to move together. The torque value is calculated by measuring the effective load inertia of the moving parts installed above the calibrated torque sensor and the angular acceleration during movement. In order to generate high-quality torque waveforms, the attached Figure 3 The motor is controlled by the closed-loop control method shown.

[0075] The moment of inertia of the standard moment of inertia block is a known quantity, and the no-load moment of inertia of the shaft system connecting the standard moment of inertia block and the torque sensor can be accurately measured. The motor uses a split permanent magnet torque motor as a torque generator. The motor itself has no output shaft and bearings. The rotor is directly installed on the moving shaft and the stator is installed on the stationary part. Two air-floating shaft systems are used to suppress non-rotating motion. While the air-floating shaft system reduces the friction resistance torque, the upper air-floating shaft system is used to reduce the rotation error of the effective inertia load on the upper part of the sensor being calibrated and the axial force of the moment of inertia block on the torque sensor. The lower air-floating shaft system effectively reduces the movement and swing of the motor output shaft. The moving part of the dynamic torque excitation device has no mechanical contact with the stationary part, which greatly reduces the influence of the friction resistance torque on the accuracy of dynamic torque measurement.

[0076] The calibrated torque sensor 6 is installed using the upper interface 5 and the lower interface 8; the table grating 1 and the cylindrical grating 4 are used for angular acceleration parameter measurement; the upper air-floating shaft 2 and the upper bearing seat 3 constitute an upper air-floating shaft system; the lifting rod 7 is a precision guide rail used for installation and guidance to make the upper air-floating shaft, the torque sensor and the lower air-floating shaft coaxial; the feedback grating 9 is used for angular motion measurement feedback of the rotation control system; the locking nut 10 is used to tighten the movable system; the lower air-floating shaft 11 and the lower bearing seat 12 constitute a lower air-floating shaft system; the motor rotor 13 is directly installed on the moving shaft, and the motor stator 14 is installed on the stationary part; the base 16 is used to fix, install and support each subsystem.

[0077] Move and adjust the lower bearing seat to drive the motor rotor, stator, lower air-floating shaft system, feedback grating and calibrated torque sensor installed on it to move upward, so that the calibrated sensor is connected to the upper interface and locked. The upper interface, cylindrical grating and standard moment of inertia block are installed on the upper air-floating shaft to form effective load inertia. When the motor is driven, the motor rotor drives the lower air-floating shaft, feedback grating, calibrated torque sensor, upper air-floating shaft, cylindrical grating and standard moment of inertia block to move together. By measuring the effective load inertia of the moving parts installed above the calibrated torque sensor and the angular acceleration during movement, the dynamic torque value is calculated.

[0078] The device can generate sinusoidal torque and impact torque, and has the characteristics of small interference torque, good waveform quality, and easy traceability of dynamic torque value. The typical parameters of the excitation source are shown in Table 1.

[0079] Table 1 Basic characteristics of dynamic torque excitation source

[0080]

[0081] As attached Figure 2 As shown in the attached figure, the dynamic torque calibration data collection and analysis are Figure 2 The system shown is based on a PXI bus computer. The system is inserted with a computer module, a high-speed data acquisition module, two data acquisition modules, an arbitrary wave generation module, and a control module. The computer module is the core of the system and is used to run software and store data. The arbitrary wave generation module can convert digital signals into analog signals through 16-bit D / A for motor control. The control module is used to control the gas source.

[0082] As an optional embodiment of the present application, optionally, the angular acceleration at the bottom of the standard moment of inertia block is obtained. and the angular acceleration of the bottom of the air-bearing shaft system Previously, it also included:

[0083] Step 1: The dynamic torque calibration device uses a split torque motor to drive the rotational inertia load to generate torque, and generates rotational motion according to the dynamic torque waveform required for excitation; the torque sensor senses the torque generated and outputs an electrical signal;

[0084] Step 2: Using laser interferometer (1) to cooperate with grating (1), laser interferometer (2) to cooperate with grating (2), the incident light and diffracted light of the laser interferometer conform to the grating equation:

[0085]

[0086] Where k is the diffraction order (k = ±1), g is the grating constant, λ is the wavelength of the laser, α is the incident angle, and β is the diffraction angle;

[0087] Adjust the incident angle to make it the same as the first-order diffraction light angle, so that the incident and reflected light of the laser interferometer coincide; the laser interferometer receives the reflected light and obtains a photoelectric signal;

[0088] Step 3: The electrical signals output by the laser interferometer 1 and the laser interferometer 2 are synchronously collected by the high-speed data acquisition card, and the angular displacement and angular velocity of the rotation are obtained after processing, and then the angular acceleration is obtained. The electrical signal output by step 1 is collected by the data acquisition card 1 after being amplified.

[0089] The high-speed data acquisition card and data acquisition card 1 are controlled by the PXI bus to achieve synchronous acquisition. Data acquisition module 1 and data acquisition module 2 are used to collect the output signal of the torque sensor and the output signal of the grating reading head respectively. They are single-channel 24-bit A / D, and the sampling frequency of each channel is 1MHz. Data acquisition card 2 measures the output signal of the grating reading head and obtains the angular displacement signal through calculation. The angular displacement signal and the output signal of the torque sensor are input into the digital control system software, and the optimal control parameters are obtained through calculation. The arbitrary wave generator outputs an electrical signal to control the motor to generate the required torque waveform. The torque waveform can be sine, half-sine, random or other required waveforms.

[0090] On the one hand, the present application proposes a method for calculating dynamic torque in sinusoidal torque calibration, comprising the following steps:

[0091] Step 4: Get the angular acceleration at the bottom of the standard moment of inertia block include:

[0092] The angular acceleration at the bottom of the standard moment of inertia block is measured by laser interferometer: The angular acceleration distribution of a standard moment of inertia block is:

[0093]

[0094] Where:

[0095] z-height coordinate of the moment of inertia block, with the bottom as 0, in m;

[0096] t-time, unit s;

[0097] ω0-angular vibration frequency, unit rad / s;

[0098] ρ-density, unit: kg / m 3 ;

[0099] G-shear elastic modulus, unit GPa;

[0100] L-standard moment of inertia block height, in m.

[0101] Step 5: The torque component M1 generated by the standard moment of inertia block is as follows:

[0102]

[0103] In the formula, —Angular acceleration at the bottom of the standard moment of inertia block;

[0104] r-diameter of the standard moment of inertia block, in m;

[0105] S- cross-sectional area of ​​standard moment of inertia block, unit: m 2 .

[0106] J-Moment of inertia of standard moment of inertia block, unit: kgm 2 ..

[0107] As an optional embodiment of the present application, optionally, calculating the torque component M2 generated by the air-bearing shaft system and the connection mechanism between the sensor and the standard moment of inertia block includes:

[0108] Step 6: The air-floating shaft system and the connecting parts form an integrated structure, and the angular acceleration of the upper section is Angular acceleration of the lower section Based on the above two boundary conditions, the angular acceleration of any point inside the air-floating shaft system and the connecting structure is calculated using the finite element analysis method. The torque M2 is calculated by numerical integration as:

[0109]

[0110] Step 7: Calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor, including:

[0111]

[0112] Where, J0 is the equivalent moment of inertia of the torque sensor.

[0113] Step 8: The dynamic torque value M measured by the torque sensor output is calculated as follows:

[0114] M(t)=M0+M1+M2.

[0115] After calculating the dynamic torque value M(t) acting on the torque sensor, it also includes:

[0116] The dynamic characteristics of the torque sensor are obtained by comparing the dynamic torque value M(t) and the electrical signal output by the torque sensor acquired by the high-speed data acquisition card.

[0117] Step nine: By comparing the dynamic torque value M obtained in step four with the electrical signal output by the torque sensor acquired by the high-speed data acquisition card in step three, the dynamic characteristics of the torque sensor are obtained.

[0118] The dynamic torque value M(t) is calculated by step 8. J2 is the equivalent moment of inertia of the torque sensor, which is the moment of inertia of the sensor structure above the torque sensor measuring the sensitive element. It also generates torque acting on the sensitive element during dynamic calibration. J2 is calculated through two measurements.

[0119] The sensitivity S of the torque sensor is expressed as:

[0120]

[0121] Where: U is the output voltage of the torque sensor;

[0122] The equivalent moment of inertia J0 of the sensor is obtained by the following method:

[0123] First, select a standard moment of inertia block J with a known value 1a Calibrate and obtain the output voltage U of the torque sensor a He He M 1a 、M 2a and Remove the standard moment of inertia block and replace it with another standard moment of inertia block with a different value J 1b Calibrate and obtain the output voltage U of the torque sensor b and M 1b 、M 2b and In the formula of sensitivity S, the sensitivity S of the torque sensor remains unchanged in the two calibrations, then:

[0124]

[0125] The J0 value can be calculated from the above formula.

[0126] Sinusoidal torque signal processing method: When the calibration frequency is f, the angular displacement series s(n) obtained by the laser interferometer measurement system and the torque sensor output series U that changes with time t (n) The amplitude and phase of each sine wave can be calculated. Figure 5 As shown in the figure, firstly, the two series are band-pass filtered respectively. Selecting an appropriate filter can filter out noise while avoiding affecting the amplitude and phase of the signal. The displacement signal output by the interferometer and the voltage signal output by the torque sensor are filtered using the same filtering parameters to reduce the measurement error introduced by the inconsistency of the filters. The amplitude and phase of the sine wave can be calculated using the DFT method or the sine fitting method. Through the above processing, the amplitude M of the sinusoidal torque is obtained. Amp and phase M Pha , the amplitude of the torque sensor output electrical signal U Amp and phase U Pha The sensitivity of the torque sensor is calculated by formula (9), and the phase shift is calculated by formula (10).

[0127]

[0128] Δθ=U pha -M Pha (10)

[0129] The signal processing method for calibrating sinusoidal torque at other frequencies is the same as above. By calibrating sinusoidal torque at a series of frequencies, the amplitude sensitivity and phase shift at different frequencies are obtained.

[0130] Impact torque signal processing method: The laser interferometer measures the angular displacement signal. To obtain the angular acceleration signal from the angular displacement signal, two differentiations are required. The differentiation process will introduce noise and reduce the signal-to-noise ratio. Therefore, the key to the processing of the impact signal is to use various methods to suppress the noise. The impact signal can be differentiated in the time domain or frequency domain. Figure 6 This is the flow chart of the time domain differential method for processing the impact angular acceleration signal; Figure 7 The following is a flow chart of the frequency domain differential method for processing the impact angular acceleration signal. Regardless of which method is used, an ideal and smooth half-sine excitation waveform is the basis, and the selection of an appropriate low-pass filter is the key. The differential process of the signal will greatly reduce its signal-to-noise ratio, and the signal needs to be filtered before and after the differential. Through the time domain waveform of the impact torque, its torque peak M can be obtained. P The voltage peak value U can be obtained through the output of the torque sensor P eak, amplitude sensitivity S of the torque sensor P eak is:

[0131]

[0132] The typical metrological characteristics of the dynamic torque calibration device are shown in Table 2. By using the method of the present invention, the frequency range of calibrating the sinusoidal torque is wider and the measurement uncertainty is smaller, wherein the amplitude expansion uncertainty is better than 0.5% and the phase shift expansion uncertainty is better than 0.5°; the amplitude expansion uncertainty of calibrating the impact torque is better than 0.5%.

[0133] Table 2 Measuring characteristics of dynamic torque calibration device

[0134]

[0135] Therefore, in the dynamic torque calibration, the calculation of the dynamic torque takes into account the actual distribution of the angular acceleration of the load, and the dynamic torque value is more accurate. By tracing the dynamic torque quantity to the International System of Units (SI) through the moment of inertia and angular acceleration, a dynamic torque primary standard can be established. By adopting the method of the present invention, the frequency range of calibrating sinusoidal torque is wider and the measurement uncertainty is smaller, wherein the amplitude expansion uncertainty is better than 0.5%, and the phase shift expansion uncertainty is better than 0.5°; the amplitude expansion uncertainty of calibrating impact torque is better than 0.5%.

[0136] Example 2

[0137] Based on the implementation principle of Example 1, on the other hand, the present application proposes a device for implementing the dynamic torque calculation method in the sinusoidal torque calibration, comprising:

[0138] Angular acceleration acquisition module, used to obtain the angular acceleration at the bottom of the standard moment of inertia block and the angular acceleration of the bottom of the air-bearing shaft system

[0139] A first calculation module, used for calculating the torque component M1 generated by the standard moment of inertia block;

[0140] The second calculation module is used to calculate the torque component M2 generated by the air-floating shaft system and the connection mechanism between the sensor and the standard moment of inertia block;

[0141] A third calculation module, used to calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor;

[0142] The fourth calculation module is used to calculate the dynamic torque value M(t) acting on the torque sensor:

[0143] M(t)=M0+M1+M2.

[0144] The functional principles of the above modules are specifically described in Example 1, and will not be repeated in this example.

[0145] Obviously, those skilled in the art should understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. The modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by computing devices, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules respectively, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present invention is not limited to any specific combination of hardware and software.

[0146] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviated as: HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0147] Example 3

[0148] Furthermore, in another aspect, the present application also proposes a computing system, comprising:

[0149] processor;

[0150] a memory for storing processor-executable instructions;

[0151] Wherein, the processor is configured to implement the dynamic torque calculation method in the sinusoidal torque calibration described in Example 1 when executing the executable instructions.

[0152] The computing system of the embodiment of the present disclosure includes a processor and a memory for storing processor executable instructions, wherein the processor is configured to implement any of the above-mentioned dynamic torque calculation methods in sinusoidal torque calibration when executing the executable instructions.

[0153] Here, it should be noted that the number of processors may be one or more. At the same time, the computing system of the embodiment of the present disclosure may also include an input device and an output device. The processor, memory, input device, and output device may be connected via a bus or in other ways, which are not specifically limited here.

[0154] The memory, as a computer-readable storage medium, can be used to store software programs, computer executable programs and various modules, such as the program or module corresponding to the dynamic torque calculation method in a sinusoidal torque calibration in an embodiment of the present disclosure. The processor executes various functional applications and data processing of the computing system by running the software programs or modules stored in the memory.

[0155] The input device can be used to receive input numbers or signals. The signal can be a key signal related to user settings and function control of the device / terminal / server. The output device can include a display device such as a display screen.

[0156] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for calculating dynamic torque in sinusoidal torque calibration. It is characterized in that The steps include: Get the angular acceleration at the bottom of the standard moment of inertia block and the angular acceleration of the bottom of the air-bearing shaft system Calculate the torque component M1 generated by the standard moment of inertia block; Calculate the torque component M2 generated by the air-floating shaft system and connection mechanism between the sensor and the standard moment of inertia block; Calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor; Calculate the dynamic torque value M(t) acting on the torque sensor: M(t)=M 0 +M 1 +M 2 ; Obtaining the angular acceleration distribution of a standard moment of inertia block include: The angular acceleration at the bottom of the standard moment of inertia block is measured by laser interferometer: The angular acceleration distribution of a standard moment of inertia block is: Where: z—axial height coordinate of the moment of inertia block, with the bottom as 0, in m; t—time, unit s; ω 0 —angular vibration frequency, in rad / s; ρ—density, unit: kg / m 3 ; G—shear elastic modulus, unit GPa; L—Height of standard moment of inertia block, in m.

2. The dynamic torque calculation method in sinusoidal torque calibration according to claim 1, It is characterized in that Calculate the torque component M1 produced by the standard moment of inertia block, including: Get the angular acceleration at the bottom of the standard moment of inertia block The torque component M1 generated by the standard moment of inertia block is as follows: Where: Angular acceleration at the base of the standard moment of inertia block; J - moment of inertia of standard moment of inertia block, unit: kg m 2 .

3. The dynamic torque calculation method in sinusoidal torque calibration according to claim 1, It is characterized in that Calculate the torque component M generated by the air-floating shaft system and connection mechanism between the sensor and the standard moment of inertia block 2 ,include: The finite element analysis method is used to calculate the angular acceleration of any point inside the air-bearing shaft system and the connecting structure. The torque M is calculated by numerical integration 2 for: 。 4. The method for calculating dynamic torque in sinusoidal torque calibration according to claim 1, It is characterized in that Calculate the torque component M0 generated by the equivalent moment of inertia of the torque sensor, including: In the formula, J 0 —Equivalent moment of inertia of the torque sensor.

5. The method for calculating dynamic torque in sinusoidal torque calibration according to claim 1, It is characterized in that After calculating the dynamic torque value M(t) acting on the torque sensor, it also includes: The dynamic characteristics of the torque sensor are obtained by comparing the dynamic torque value M(t) and the electrical signal output by the torque sensor acquired by the high-speed data acquisition card.

6. The method for calculating dynamic torque in sinusoidal torque calibration according to claim 1, It is characterized in that The angular acceleration at the bottom of the block to obtain the standard moment of inertia and the angular acceleration of the bottom of the air-bearing shaft system Previously, it also included: The dynamic torque calibration device uses a split torque motor to drive the rotational inertia load to generate torque, and generates rotational motion according to the dynamic torque waveform required for excitation; the torque sensor senses the torque generated and outputs an electrical signal; Laser interferometer 1 cooperates with the table grating (1), and laser interferometer 2 cooperates with the cylindrical grating (4). The incident light and diffracted light of the laser interferometers conform to the grating equation: Where k is the diffraction order, k = ±1, g is the grating constant, λ is the wavelength of the laser, α is the incident angle, and β is the diffraction angle; Adjust the incident angle to make it the same as the first-order diffraction light angle, so that the incident and reflected light of the laser interferometer coincide; the laser interferometer receives the reflected light and obtains a photoelectric signal; The electrical signals output by the laser interferometer 1 and the laser interferometer 2 are synchronously collected by a high-speed data acquisition card, and the angular displacement and angular velocity of the rotation are obtained after processing, and then the angular acceleration of the bottom of the air-floating shaft system is obtained.

7. A device for implementing the dynamic torque calculation method in the sinusoidal torque calibration according to any one of claims 1 to 6, It is characterized in that include: Angular acceleration acquisition module, used to obtain the angular acceleration at the bottom of the standard moment of inertia block and the angular acceleration of the bottom of the air-bearing shaft system The first calculation module is used to calculate the torque component M generated by the standard moment of inertia block 1 ; The second calculation module is used to calculate the torque component M generated by the air-floating shaft system and the connection mechanism between the sensor and the standard moment of inertia block. 2 ; The third calculation module is used to calculate the torque component M generated by the equivalent moment of inertia of the torque sensor. 0 ; The fourth calculation module is used to calculate the dynamic torque value M(t) acting on the torque sensor: M(t)=M 0 +M 1 +M 2 ; Obtaining the angular acceleration distribution of a standard moment of inertia block include: The angular acceleration at the bottom of the standard moment of inertia block is measured by laser interferometer: The angular acceleration distribution of a standard moment of inertia block is: Where: z—axial height coordinate of the moment of inertia block, with the bottom as 0, in m; t—time, unit s; ω 0 —angular vibration frequency, in rad / s; ρ—density, unit: kg / m 3 ; G—shear elastic modulus, unit GPa; L—Height of standard moment of inertia block, in m.

8. A computing system, It is characterized in that include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the dynamic torque calculation method in the sinusoidal torque calibration according to any one of claims 1 to 6 when executing the executable instructions.

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